Abstract
A new control method for the cell array structured robotic manipulators is developed. It configures a manipulator as a collection of cell robot links, and it controls in a synergetic way. It sets a virtual potential field to control the manipulator, and each cell link’s motion is totaled to form the desired motion of the manipulator. In this paper, fast kinematics algorithm and dynamics algorithm are discussed. Then, the algorithms are installed on a network of cell processors and examined the speed of calculation by experiment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Whitney, D. E.: “Resolved motion rate control of manipulators and human prostheses,” IEEE Trans. Man-Machine Systems, MMS-10, 47 /53 (1969)
Paul, R. P.: “Robot Manipulators: Mathematics, P.ogramming, and Control,” MIT Press, Cambridge, MA (1981) 3 Klein, C. A. and Huang, C.-H.: “Review of pseudo-inverse control for use with kinematically redundant manipulators,” IEEE Trans. Systems, Man, and Cybernetics, SMC-13, 245 /250 (1983)
Orin, D. E. and Schrader, W. W.: “Efficient computation of Jacobian for robot manipulators,” Intl Robotics Res., 3(4), 66 /75 (1984)
Orin, D. E. et al.: “Pipeline/parallel algorithms for the Jacobian and inverse dynamics computations,” 1985 IEEE Intl Conf. Robotics and Automation, 785 /789 (1985)
Waldon, K. J. and Reidy, J.: “A study of a kinematically redundant manipulator structure,” Proc. 1986 IEEE Intl Conf. Robotics and Automation, vol. 1, 1 /8 (1986)
Sasaki, S.: “A new approach to the inverse kinematics of a multijoint robot manipulator using a minimization method,” Trans. S.c. Instrum. & Control Eng., 23(3), 274 /280 (1987)
Nakamura, Y. et al.: “unified computation of kinematics and dynamics for robot manipulators,” Trans. Soc. Instrum. & Control Eng., 23(5), 491 /498 (1987)
Tsai, Y. T. and Orin, D. E.: “A strictly convergent real-time solution for inverse kinematics of robot manipulators,” J. Robot. Syst., 4(4), 477 /501 (1987)
Chang, P. H.: “A closed-form solution for inverses kinematics of robot manipulators with redundancy,” IEEE J. Robot. Autom., RA-3(5), 393 /403 (1987)
Chiacchio, P. and Siciliano, B.: “A closed-loop Jacobian transport scheme for solving the inverse kinematics of nonredundant and redundant wrists,” J. Robot. Syst.,6(5), 601 /630 (1987)
Baker, D. R. and Wampler, C. W. II: “On the inverse kinematics of redundant manipulators,” Int’l J. Robot. Res., 7(2), 3 /21 (1980)
Sciavicco, L. and Siciliano, B.: “The augmented task space approach for redundant manipulator control,” Robot Control 1988, 125/129 (1988)
Hashimoto, R.: “Synergetic control of a hyper multi joint robotic arms,” Proc. 18th SICE Symposium on Control Theory, 267 /270 (1989)
Novakovic, Z. R.: “A Lyapunov-like methodology for solving the inverse kinematics problem,” Int’l J. R.bot. Autom., 4(1), 57 /64 (1989)
Gupta, K. C. and Singh, V. K.: “A numerical algorithm for solving inverse kinematics,” Robotica, 7(2), 159 /164 (1989)
Colbaugh, R. and Glass, K.: “Cartesian control of redundant robot,” J. Robot. syst., 6(4), 427 /549 (1989)
Hirose, S. and Ma, S.: “Redundancy decomposition control for multi-joint manipulator,” Proc. 1989 IEEE Int’l Conf. Robotics and Automation, vol. 1, 119 /124 (1989)
Euler, J. A.: “Self motion determination based on actuator velocity bounds for redundant manipulators,” J. Robot. Syst., 6(4), 417 /425 (1989)
Hashimoto, R. and Kuba, Y.: “Dynamic control of hyper multi-joint manipulators with systolic-arrayed processor system,” Proc. Robotics Society of Japan Annual Conference, 651 /652 (1989)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer-Verlag Wien
About this paper
Cite this paper
Hashimoto, R., Kuba, Y., Wada, M., Endo, H. (1991). A Distributed Control Method of Kinematics and Dynamics for Cell Array Structured Manipulators. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_31
Download citation
DOI: https://doi.org/10.1007/978-3-7091-4433-6_31
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
eBook Packages: Springer Book Archive